1. Slide 1 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen training CANopen training

2. Slide 2 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen CANopen Section 1 : Basic knowledge Section 2 : Application layer Section 3 : Link layer Section 4 : Physical layer Section 5 : Schneider offer overview Section 6 : Diagnostics

3. Slide 3 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen CANopen Part 1: History Part 2: Main characteristics Section 1: Basic knowledge

4. Slide 4 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Section 1: Basic knowledge - Part 1: History 1980: The automotive industry indicates a need for low-cost, real-time, highly reliable communication between various on-board electronic subassemblies. 1983: In partnership with several German universities, the German equipment manufacturer Robert BOSCH develops the specifications for the communication protocol CAN = Controller Area Network. 1985: The first CAN integrated circuits are marketed by INTEL. 1986: Initial prototypes presented to the USA at Detroit. 1987: The major silicon manufacturers: Philips, Motorola, National Semiconductors, Texas Instruments, MHS, SIEMENS offer a complete range of drivers and micro-controllers which integrate CAN.

5. Slide 5 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 1989: First industrial applications. 1987 to 1991: Establishment of promotional organizations for both automotive (SAE, OSEK), and industrial (CIA = CAN in Automation) applications. 1991: CAN Low Speed (125 kbps/Identifiers coded on 11 bits) becomes standard ISO 11519-2. 1992: MERCEDES uses a 500 kbps CAN bus to link 5 electronic subassemblies on an S class. 1993: CAN High Speed (1 Mbps/Identifiers on 11 bits) becomes standard ISO 11898 = CAN 2.0 A. Section 1: Basic knowledge - Part 1: History

6. Slide 6 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 1995: Amendment to standard ISO 11898 introducing identifiers coded on 29 bits = CAN 2.0 B. Publication by the CiA of communication profile DS-301. 1996: CAN is used on the majority of motor controls in top-of-the-range European cars. 1997: 300 companies are members of the CiA. 1998: New set of ISO standards for diagnostics and compliance testing. Section 1: Basic knowledge - Part 1: History

7. Slide 7 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen was built chronologically on the basis of several specifications: CAN 2.0 A and B (originating from Robert BOSCH) Defines precisely the link layer and part of the physical layer CAL = CAN Application Layer (CiA): Provides tools for developing an application using CAN without instructions for use + further details on the physical layer CANopen (CiA): Defines which CAL tools to use and how. Ensures interoperability of products by profile descriptions. Reference specifications Section 1: Basic knowledge - Part 2: Main characteristics

8. Slide 8 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Medium:Shielded twisted pair 2 or 4-wire (if power supply) Topology: Bus type With short tap links and end-of-line resistor Maximum distance : 1000 m Data rate: 1 Mbps at 25 metres, 10 Kbps at 1000 metres Depends on the length of the bus and the type of cable Max. no. of devices : 128 1 master and 127 slaves Physical Layer Section 1: Basic knowledge - Part 2: Main characteristics

9. Slide 9 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Network access method: CSMA/CA Each device can send data as soon as the bus is free. In the event of a collision, a principle of dominant or recessive bits can arbitrate bit by bit in a non-destructive manner. The priority of a message is given by the value of the identifier: the identifier with the lowest value has the highest priority. Communication model : Producer/Consumer An identifier located at the start of the message informs receivers as to the type of data contained in each message, each receiver decides whether or not to consume the data. Max. useful data size: 8 bytes per frame Link layer Section 1: Basic knowledge - Part 2: Main characteristics

10. Slide 10 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Security of transmission: Among the best on industrial local area networks. Numerous signalling and error detection devices ensure excellent security of transmission. Link layer Section 1: Basic knowledge - Part 2: Main characteristics

11. Slide 11 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 A CAL subassembly which defines standardized communication objects and 4 types of service: 1. Network administration: parameter setting, starting, monitoring (master- slaves) 2. Transmission of small amounts of process data (<= 8 bytes) in real time: PDO = Process Data Object (producer-consumer) 3. Transmission of large amounts of parameter-setting data (> 8 bytes) using segmentation without time constraints: SDO = Service Data Object (client-server) 4. Predefined messages for managing synchronizations, time-based references, fatal errors: SFO = Special Function Object CANopen application layer Section 1: Basic knowledge - Part 2: Main characteristics

12. Slide 12 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen CANopen Part 1: CANopen basic concepts Part 2: CANopen objects and services Section 2: Application layer

13. Slide 13 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CiA DS-301 = Communication profile EMPTY CAN 2.0 A and B + ISO 11898 CAN 2.0 A and B = ISO 11898-1 and 2 ISO 11898 + DS-102 Device Profile CiA DSP-401 I/O modules Device Profile CiA DSP-402 Drives Device Profile CiA DSP-404 Measuring devices Device Profile CiA DSP-4xx CAL= CAN Application Layer APPLICATION PRESENTATION SESSION TRANSPORT NETWORK LINK = LLC + MAC PHYSICAL 7 6 5 4 3 2 1 Section 2: Application layer - Part 1: CANopen basic concepts CANopen is based on CAL

14. Slide 14 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CAL = CAN Application Layer was established in 1992 by the CAN in Automation association (CiA) in order to be able to develop open CAN systems. CAL provides developers with numerous tools without giving any instructions for use. Historically, this was the first step towards interoperability... Section 2: Application layer - Part 1: CANopen basic concepts

15. Slide 15 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Section 2: Application layer - Part 1: CANopen basic concepts Structure of CAL Slave Network Management NMT Master Slave Layer Management LMT Master Slave Identifier Distributor DBT Master Services CAN Message Specification CMS DomainsEventsVariables CMS defines standard communication objects and services NMT initializes and supervises the network LMT sets the parameters for the various layers DBT is used to distribute identifiers in real time (little used).

16. Slide 16 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Breakdown of CAL identifiers = COB - ID Section 2: Application layer - Part 1: CANopen basic concepts Priority High Low

17. Slide 17 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen uses a restricted number of tools provided by CAL. CANopen defines for a certain number of industrial devices: what data is sent and how by means of profiles CANopen is based on the concept of the object dictionary: Device Object Dictionary (OD) such as INTERBUS and PROFIBUS. CANopen application layer Section 2: Application layer - Part 1: CANopen basic concepts

18. Slide 18 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 The CANopen Object Dictionary is an ordered group of objects which can be accessed by a 16-bit index and if necessary a sub-index coded on 8 bits. Each network node has an OD in the form of an EDS: Electronic Data Sheet ASCII type file. This dictionary contains all the elements which describe the node and its behaviour on the network. CANopen Object Dictionary = OD Section 2: Application layer - Part 1: CANopen basic concepts

19. Slide 19 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Structure of the CANopen Object Dictionary Section 2: Application layer - Part 1: CANopen basic concepts

20. Slide 20 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen defines 2 types of profile: The DS-301 communication profile: Describes the general structure of the OD and objects found in the "Communication profile area" zone. It applies to all CANopen products. DSP-4xx device profiles: Describes the various associated standard objects for the various types of product (discrete I/O modules, drives, measuring apparatus). Some objects are compulsory, others are optional, some are read-only, others are read-write. CANopen profiles Section 2: Application layer - Part 1: CANopen basic concepts

21. Slide 21 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 The CANopen communication profile defines 4 types of message: - network administration messages - Service Data Objects = SDO - Process Data Objects = PDO - Special Function Objects = SFO DS-301 CANopen communication profile Section 2: Application layer - Part 2: CANopen objects and services

22. Slide 22 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 These messages are used to manage the various protocol layers, supervise the complete network and distribute identifiers. They are based on the CAL LMT, NMT and DBT services and protocols. CANopen network administration messages Section 2: Application layer - Part 2: CANopen objects and services

23. Slide 23 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 These services are used to transmit large amounts of parameter-setting data without any time restriction. They enable a client device to access the OD object dictionary of a server device in read or write mode. The data can exceed 8 bytes, but in this case a data segmentation system is activated. The result of a read or write operation is confirmed by a response. An SDO requires 2 COB-IDs: one for the request, the other for the response. Service Data Objects = SDO Section 2: Application layer - Part 2: CANopen objects and services

24. Slide 24 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 These services are used to transmit small amounts of process data (<= 8 bytes) in real time. They enable a producer device to make a variable with a maximum size of 64 bits without overhead available to one or more consumers. This service is implemented as an " Event-type CMS object" and therefore is not confirmed. Process Data Objects = PDO Section 2: Application layer - Part 2: CANopen objects and services

25. Slide 25 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Each PDO is described by 2 objects in the OD: PDO Communication Parameter indicates which COB-ID is used, which type of transmission is used, and the value of the inhibit time. PDO Mapping Parameter contains the list of objects in the OD as well as their size. PDOs Description of PDOs Section 2: Application layer - Part 2: CANopen objects and services

26. Slide 26 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Synchronous: by receiving a SYNC object Acyclic:- transmission is pre-triggered by a "Remote Transmission request" - transmission is pre-triggered by the occurrence of a "Specific event" object in the device profile Cyclic:- transmission is triggered periodically after each 1, 2 or up to 240 SYNC objects PDO transmission modes Section 2: Application layer - Part 2: CANopen objects and services Asynchronous: - transmission is triggered by a "Remote Transmission request" - transmission is pre-triggered by the occurrence of a "Specific event" object in the device profile

27. Slide 27 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 SYNC = Synchronization Object: These objects are used to synchronize the acquisition of inputs or updating of outputs (axis control for example). The "SYNC master" sends the SYNC message at a period (communication cycle period) fixed at the time of configuration. Special Function Objects = SFO Section 2: Application layer - Part 2: CANopen objects and services

28. Slide 28 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Time Stamp Object: The Time-Stamp object provides a time reference common to all devices. This time is coded on 6 bytes and represents an absolute time in ms from 1st January 1984. Special Function Objects = SFO Section 2: Application layer - Part 2: CANopen objects and services

29. Slide 29 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 EMCY Object: EMCY objects are triggered when an internal fault occurs in the device (current, voltage, temperature, communication, etc). Special Function Objects = SFO Section 2: Application layer - Part 2: CANopen objects and services

30. Slide 30 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Node guard Object: The NMT master monitors the status of slaves connected to the network by periodically sending a Node guard object remote frame to each slave. Each slave answers immediately on reception. Slaves have the option of monitoring the NMT master: Life guarding. Life Time = Guard Time x Life Time Factor If a slave receives no polling for a period equal to the Life Time, it generates a "Life guarding" event, goes into communication fault mode and sends an EMCY object. Special Function Objects = SFO Section 2: Application layer - Part 2: CANopen objects and services

31. Slide 31 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Transitions performed by the NMT master : Types of communication object authorized: 1: Start_Remote_Nodea. NMT 2: Stop_Remote_Nodeb. Node Guard 3: Enter_Pre-Operational_Statec. SDO 4: Reset_Noded. EMCY 5: Reset_Communicatione. PDO. 6: Node initialization complete Network status diagram Section 2: Application layer - Part 2: CANopen objects and services

32. Slide 32 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 With the aim of reducing the network configuration phase a compulsory system for allocating default identifiers has been defined. This allocation occurs in the "Pre operational" state just after the initialization phase. It is based on dividing the COB-ID identifier into 2 parts: Function code is used to code 2 PDOs in reception mode, 2 PDOs in transmission mode, 1 SDO, 1 EMCY object, 1 Node Guarding Identifier, 1 SYNC object, 1 Time Stamp object and 1 node guarding. Node ID corresponds to the product address coded by DIP switches, for example. Allocation of default identifiers Section 2: Application layer - Part 2: CANopen objects and services 109876543210 Function CodeNode ID

33. Slide 33 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Allocation of default identifiers Section 2: Application layer - Part 2: CANopen objects and services

34. Slide 34 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen CANopen Part 1: Frame format Part 2: Exchange protection Section 3: Link layer

35. Slide 35 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 The CAN V2.0 specification consists of 2 parts: CAN 2.0.A and CAN 2.0.B. CAN 2.0.A corresponds to the standard frame format with an identifier coded on 11 bits. It is used by CANopen and most of the application layers. CAN 2.0.B corresponds to the extended frame format with an identifier coded on 29 bits. It is very rarely used. CAN 2.0.A and CAN 2.0.B Section 3: Link layer - Part 1: Frame format

36. Slide 36 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Section 3: Link layer - Part 1: Frame format CRC sequence Start of frame (SOF) Identifier RTR Remote Transmission Request bit Data field CRC delimit. Structure of the CAN 2.0.A frame ACK slot 11160 to 641571111 ACK delimit. End of frame (EOF) Arbitration field Control field: compatibility and length Frame size without bit stuffing: 47 to 111 bits

37. Slide 37 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Section 3: Link layer - Part 1: Frame format CRC sequence Start of frame (SOF) Identifier RTR Remote Transmission Request bit Data field CRC delimit. Structure of the CAN 2.0.B frame ACK slot ACK delimit. End of frame (EOF) Arbitration field 11160 to 6415711111118 Identifier SRR IDE Control field: compatibility and length Frame size without bit stuffing: 67 to 131 bits

38. Slide 38 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Upward compatibility applies. 3 types of product have been defined: CAN 2.0.A: these products prohibit exchanges of CAN 2.0.B frames since they systematically destroy them. Passive CAN 2.0.B: these products ignore CAN 2.0.B frames without destroying them. They allow both exchange formats but only process frames in CAN 2.0.A format. CAN 2.0.B: these products are capable of exchanges in both formats. Compatibility between CAN 2.0.A and CAN 2.0.B Section 3: Link layer - Part 1: Frame format

39. Slide 39 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Data Frame: these frames transport data from a producer to consumers without any guarantee that it will be processed. Remote Frame: these request frames are sent by a client to a server to request transmission of a data frame (the identifier will have the same value as that of the request). Error Frame: these frames are transmitted when a station detects the presence of errors on the bus. Overload Frame: these frames are sent to ask for an additional time lapse between successive frames (data or request). The 4 types of CAN frame Section 3: Link layer - Part 1: Frame format

40. Slide 40 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Section 3: Link layer - Part 1: Frame format SOFIDENTRTRCTRDATACRC ACKEOF 1D CAN V2.0 A Data Frame 0 to 64X 1X+1R5X+1R6X11X 1D 7R SOFIDENTRTRCTRDATACRC ACKEOF 1D CAN V2.0 A Remote Frame 0 to 64X 1X+1R5X+1R6X11X7R 1R Data frame Request frame Interframe 3R Interframe 3R If a request frame is repeated, the response to this request takes priority.

41. Slide 41 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Section 3: Link layer - Part 1: Frame format ERROR FLAGERROR DELIMITER Error Frame ACTIVE ERROR FLAG: 6D 8R Frame being broadcast Error detected PASSIVE ERROR FLAG: 6R OVERLOAD FLAGOVERLOAD DELIMITER Overload Frame 6D 8R Previous frame EOF or ERROR DELIMITER

42. Slide 42 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 At bit level: when 5 identical bits are transmitted, an additional "stuffing" bit with the opposite value is introduced intentionally. This bit is tested and eliminated by the receiver. At frame structure level, the delimiters CRC Delimiter, ACK Delimiter, End of Frame, Error Delimiter, Overload Delimiter are integrated to enable the structure to be checked. At content validity level: a CRC sequence enables receivers to check the consistency of the data received. ACK slot: this window enables the sender to know that his message has been received correctly by at least one station (dominant bit). Protection mechanisms Section 3: Link layer - Part 2: Exchange protection

43. Slide 43 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Each node must always contain two counters: TEC Transmit Error Counter and REC Receive Error Counter. These counters are incremented and decremented using a sophisticated weighting mechanism etched in the silicon. Depending on the value of these counters, the node will be in one of the following 3 states: Active errors Passive errors Bus OFF (sending driver disconnected from the bus). Error counters Section 3: Link layer - Part 2: Exchange protection

44. Slide 44 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Counter value/node status Section 3: Link layer - Part 2: Exchange protection Active errors Passive errors Bus OFF Reset and configuration REC > 127 or TEC > 127 REC < 128 and TEC < 128 TEC > 255 128 occurrences of 11 consecutive recessive bits (end of frames without errors)

45. Slide 45 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Active error status: On detection of the fault, the node sends an Error Frame with an ACTIVE ERROR FLAG field. The 6 dominant bits sent which contravene the stuffing bit law cause a chain reaction in the other nodes which destroys the active frame. Passive error status: On detection of the fault, the node sends an Error Frame with a PASSIVE ERROR FLAG field. The recessive bits sent have no effect on the frame currently being sent. Bus OFF status: The node is disconnected and monitors the bus. Behaviour in the event of detection of a communication error Section 3: Link layer - Part 2: Exchange protection

46. Slide 46 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen CANopen Part 1: Network characteristics Part 2: Recommended connections Section 4: Physical layer

47. Slide 47 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CiA DS-301 = Communication profile EMPTY CAN 2.0 A and B + ISO 11898 ISO 11898 + DS-102 + DRP-301-1 Device Profile CiA DSP-401 I/O modules Device Profile CiA DSP-402 Drives Device Profile CiA DSP-404 Measuring devices Device Profile CiA DSP-4xx CAL= CAN Application Layer APPLICATION PRESENTATION SESSION TRANSPORT NETWORK LINK = LLC + MAC PHYSICAL 7 6 5 4 3 2 1 Section 4: Physical layer - Part 1: Network characteristics CANopen physical layer

48. Slide 48 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Twisted differential pair: 1 pair if CAN-H/CAN-L 2 pairs if CAN-H/CAN-L + p. supply Characteristic line impedance:120 ohms nominal Line terminators:120 ohms at each end Wire resistance: 70 milli-ohms/metre nominal Propagation time:5 ns/metre nominal Topology:Bus type with the shortest possible tap links Description of the network Section 4: Physical layer - Part 1: Network characteristics

49. Slide 49 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Recessive status: VCAN_H - VCAN_L = 0V (-0.5 V to + 50 mV) Dominant status:VCAN_H - VCAN_L = 2V (1.5 V to 3 V) Tx output current:Higher than 25 mA Protection:Against short-circuits Electrical levels Section 4: Physical layer - Part 1: Network characteristics Voltage (V) TimeRecessive Dominant 2.5 5 3.5 1.5 CAN_H CAN_L

50. Slide 50 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Data rate - bus length - cable cross-section for 32 slaves maximum Section 4: Physical layer - Part 1: Network characteristics

51. Slide 51 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Data rate - bus length - cable cross-section for 100 slaves maximum Section 4: Physical layer - Part 1: Network characteristics

52. Slide 52 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 In its recommendation DR-303-1, the CiA provides a list of suitable connectors classified into 3 categories with their pin signal description. General use 9-pin SUB D connector DIN 41652, multi-pole connector (ribbon cable to 9-pin SUB-D), RJ10 and RJ45 Industrial use 5-pin Mini Style, 5-pin Micro Style, Open Style Special use 7-pin round connector, 8-pin round connector, 9-pin round connector, 12-pin round connector, Hand Brid Harting. Recommended connections Section 4: Physical layer - Part 2: Recommended connections

53. Slide 53 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Pin Signal Description: 1:Reserved 2:CAN_L = CAN_L bus line dominant low 3:CAN_GND = CAN Ground 4:Reserved 5:(CAN_SHLD) Optional CAN Shield 6:(GND) Optional Ground 7:CAN_H = CAN_H bus line dominant high 8:Reserved 9:(CAN_V+) Optional CAN external positive supply 9-pin SUB D connector DIN 41652 Section 4: Physical layer - Part 2: Recommended connections Male product end

54. Slide 54 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 RJ45 connector Section 4: Physical layer - Part 2: Recommended connections Pin Signal Description 1:CAN_H = CAN_H bus line (dominant high) 2:CAN_L = CAN_L bus line (dominant low) 3:CAN_GND = Ground/0 V/V- 4: Reserved 5:Reserved 6:(CAN_SHLD) = Optional CAN Shield 7:CAN_GND = Ground/0 V/V- 8(CAN_V+) = Optional CAN external positive supply

55. Slide 55 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Pin Signal Description: 1: (CAN_SHLD) = Optional CAN Shield 2:(CAN_V+) = Optional CAN external positive supply 3:CAN_GND = Ground/0V/V- 4:CAN_H = CAN_H bus line (dominant high) 5:CAN_L = CAN_L bus line (dominant low) 5-pin Mini Style connector: ANSI/B93.55M-1981 Section 4: Physical layer - Part 2: Recommended connections Male product end

56. Slide 56 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Pin Signal Description: 1:CAN_GND = Ground/0 V/V- 2:CAN_L = CAN_L bus line (dominant low) 3:(CAN_SHLD) = Optional CAN Shield 4:CAN_H = CAN_H bus line (dominant high) 5:(CAN_V+) = Optional CAN external positive supply Open Style connector Section 4: Physical layer - Part 2: Recommended connections Male product end

57. Slide 57 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Recommended suppliers Section 4: Physical layer - Part 2: Recommended connections Cables - U.I.LAPP GmbH Schultze-Delitsch-Str. 25 D-70565 Stuttgart Germany http://www.lappcable.com Connectors - ERNI Elektroapparate GmbH Seestrasse 9 D-73099 Adelberg Germany - ERNI Connectique S.a.r.l, France 27 bis, avenue des Sources/CP 638 F-69258 LYON Cedex 09, http://connect.erni.com/ http://connect.erni.com/

58. Slide 58 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen CANopen Part 1: Global offer overview overview Part 2: Product characteristics Section 5: Schneider offer overview

59. Slide 59 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen master PCMCIA card for Premium PLC: TSXCPP100 Products Section 5: Schneider offer overview - Part 1: Global offer overview CANopen communication card for ATV58 variable speed drive: VW3A58308 CANopen communication module for TEGO POWER / QUICKFIT motor starters: APP1CCO0 = 16I + 8O on bus APP1CCO2 = 16I + 8O on bus + 16I + 16O locally

60. Slide 60 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen Sycon master configuration software from HILSCHER: LXLFBCM Accessories Section 5: Schneider offer overview - Part 1: Global offer overview Junction box for connecting the CANopen master card to 1 or 2 CANopen buses: TSXCPPACC1 Schneider does not provide cables or connectors for CANopen, but recommends suppliers.

61. Slide 61 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Recommended suppliers Section 5: Schneider offer overview - Part 1: Global offer overview Cables - U.I.LAPP GmbH Schultze-Delitsch-Str. 25 D-70565 Stuttgart Germany http://www.lappcable.com Connectors - ERNI Elektroapparate GmbH Seestrasse 9 D-73099 Adelberg Germany - ERNI Connectique S.a.r.l, France 27 bis, avenue des Sources / CP 638 F-69258 LYON Cedex 09, http://connect.erni.com/ http://connect.erni.com/

62. Slide 62 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Type III PCMCIA card inserted in the processor module communication port slot (only 1 CANopen master per PLC). Section 5: Schneider offer overview - Part 2: Product characteristics CANopen master card: TSXCPP100 2 indicator lights Brackets for fixing on PLC CPU Connecting cable, 0.6 m long, with male 15-pin SUBD at the end

63. Slide 63 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Compatibility: Premium processors >= V5.0 except for TSX57103. PL7 >= V4.0 Sycon configurator >= 2.630 The Sycon configurator is used to generate the ***.co configuration file which can be imported from PL7 or loaded directly into the card. CANopen master card: TSXCPP100 Section 5: Schneider offer overview - Part 2: Product characteristics

64. Slide 64 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Functions supported: Bus management Implicit exchange of PDOs (8 bytes max.) using %MW words Explicit exchange of SDOs by WRITE_VAR and READ_VAR functions Sending any identifier by the SEND_REQ function Fault identification, diagnostics and history by the SEND_REQ function CANopen master card: TSXCPP100 Section 5: Schneider offer overview - Part 2: Product characteristics

65. Slide 65 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen master card: TSXCPP100 Section 5: Schneider offer overview - Part 2: Product characteristics (1) This maximum size can be exceeded if the configuration file is loaded directly into the card using the Sycon software. The maximum file size authorized by Sycon is 256 Kb. For 10 ATV58: Configuration file size = 4.6 Kb I/O data = 2 X 20 words For 20 ATV58: Configuration file size = 7.5 Kb I/O data = 2 X 40 words

66. Slide 66 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 L-shaped electronic card connected to the drive control card. Section 5: Schneider offer overview - Part 2: Product characteristics CANopen communication card for ATV58: VW3A58308 Switches for configuring the speed and the address Indicator lights Bus connection terminal block End of line switch Supplied with floppy disk containing the.eds description file for the device. Compatible with all ATV58 and ATV58F control cards.

67. Slide 67 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Main characteristics: Communication speed (125, 250, 500 Kbps or 1 Mbps) and address configured by switches Conforms to CAN V2.0.A: identifiers on 11 bits The CAN controller used on the card is active 2.0B: it accepts frames with identifiers on 11 and 29 bits. Identifier value allocated by the address Conforms to DS402 V1.1 CANopen profile: "Device profile for drives and motion control - Velocity Mode" Conforms to Drivecom profile Section 5: Schneider offer overview - Part 2: Product characteristics CANopen communication card for ATV58: VW3A58308

68. Slide 68 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 PDO services supported (control): 1 PDO in reception mode (control) non-synchronised containing 4 bytes corresponding to 2 words: CMDD:DRIVECOM control register LFRD:DRIVECOM speed reference in rpm 1 PDO in send mode (monitoring) non-synchronised sent on change of status* containing 4 bytes corresponding to 2 words: ETAD:DRIVECOM status word RFRD:DRIVECOM motor speed in rpm * PDOs are sent by the drive at intervals of 50 ms minimum and one second maximum. Section 5: Schneider offer overview - Part 2: Product characteristics CANopen communication card for ATV58: VW3A58308

69. Slide 69 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 SDO services supported (configuration, adjustment): 1 SDO in reception mode: processing a request to read or write drive communication internal variables: 1 to 4 bytes 1 SDO in send mode: processing the response to a request to read or write drive communication internal variables: 1 to 4 bytes NMT services: network management status graph Node guarding object: periodic transmission of drive status EMCY object : sent in the event of a drive fault 1 Section 5: Schneider offer overview - Part 2: Product characteristics CANopen communication card for ATV58: VW3A58308

70. Slide 70 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Communication module placed on the left side of the motor starters Indicator lights Bus connection terminal block Switches for configuring the speed and address Local I/O connection terminal blocks (only on APP1CCO2 module) 24V power supply Section 5: Schneider offer overview - Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

71. Slide 71 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Main characteristics: Communication speed (125, 250, 500 Kbps or 1 Mbps) and address configured by switches Conforms to CAN V2.A: identifier on 11 bits Identifier values allocated by the address Conforms to the "I/O module" DS401 CANopen profile Section 5: Schneider offer overview - Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

72. Slide 72 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 PDO services supported on APP1CCO0: 1 PDO in reception mode (control) non-synchronised containing 1 byte: Control of 8 TEGO sub-base contactors 1 PDO in send mode (monitoring) non-synchronised sent on change of status containing 2 bytes: State of 8 contactor auxiliary contacts State of 8 circuit-breaker auxiliary contacts Section 5: Schneider offer overview - Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

73. Slide 73 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 PDO services supported on APP1CCO2: 1 PDO in reception mode (control) non-synchronised containing 4 bytes: Control of 8 TEGO sub-base contactors Control of 16 outputs external to the sub-base 4th bytes unused 1 PDO in send mode (monitoring) non-synchronised sent on change of status containing 4 bytes: State of 8 contactor auxiliary contacts State of 8 circuit-breaker auxiliary contacts State of 16 inputs external to the sub-base Section 5: Schneider offer overview - Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

74. Slide 74 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 No configuration or parameter setting NMT services: network management status graph Node guarding object: periodic transmission of motor starter status EMCY object: sent in the event of a drive fault Section 5: Schneider offer overview - Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

75. Slide 75 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Used to generate a configuration file for the CANopen master PCMCIA card. This configuration can be imported from PL7 PRO/PL7 Junior or loaded directly by inserting the card in the PC. Section 5: Schneider offer overview - Part 2: Product characteristics CANopen Sycon master configuration software from HILSCHER

76. Slide 76 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Activity indicators channels A and B Section 5: Schneider offer overview - Part 2: Product characteristics Junction box for connecting the master card 9-pin SUBD connector for connecting the slaves on channel B 9-pin SUBD sub-base for connecting the slaves on channel A 15-pin SUBD sub-base for connecting the master PCMCIA card

77. Slide 77 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen CANopen Part 1: Indicator lights Part 2: Diagnostic PLC objects Section 6: Diagnostics

78. Slide 78 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen master card: TSXCPP100 Section 6: Diagnostics - Part 1: Indicator lights

79. Slide 79 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen communication card for ATV58: VW3A58308 Green LED = OK Red LED = COM Section 6: Diagnostics - Part 1: Indicator lights

80. Slide 80 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen communication module for TEGO POWER/QUICKFIT Section 6: Diagnostics - Part 1: Indicator lights CANopen CAN-ERR RUN TX Overflow RW The first 4 LEDs relate to CANopen communication

81. Slide 81 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 CANopen communication module for TEGO POWER/QUICKFIT Section 6: Diagnostics - Part 1: Indicator lights I/O RUN I/O ERR The 2 bottom LEDs relate to the module and the I/O Error table

82. Slide 82 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Implicit diagnostic objects Section 6: Diagnostics - Part 2: Diagnostic PLC objects 2 bits: %Iy.MOD.ERR =module fault %Iy.1.ERR = channel fault 24 words: %IWy.1.0 to %Iwy.1.23 = used to determine: the channel status of the various slaves the description of the last fault Word %Iwy.1.0 is a general status word which, depending on the type of fault, is used to perform more detailed diagnostics.

83. Slide 83 Industrial Automation - Customer View - Training PhW - CANopen_en 02/ 2002 Explicit diagnostic function Section 6: Diagnostics - Part 2: Diagnostic PLC objects SEND_REQ(ADR#y.1.SYS, 16#0F, %MWi:L, %MWj:L, %M Wk:4): used to access identification and status of the CANopen master SEND_REQ(ADR#y.1.SYS, 16#31, %MWi:3, %MWj:L, %MWk:4): depending on the value of %Mwi, used to: perform diagnostics on a slave or to determine the version/status of the CANopen master PCMCIA card or to read the message handling error log (SDO) Word %Iwy.1.0 is a general status word which, depending on the type of fault, is used to perform more detailed diagnostics.